/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * Copyright (c) 2016 STMicroelectronics International N.V. 
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without 
  * modification, are permitted, provided that the following conditions are met:
  *
  * 1. Redistribution of source code must retain the above copyright notice, 
  *    this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright notice,
  *    this list of conditions and the following disclaimer in the documentation
  *    and/or other materials provided with the distribution.
  * 3. Neither the name of STMicroelectronics nor the names of other 
  *    contributors to this software may be used to endorse or promote products 
  *    derived from this software without specific written permission.
  * 4. This software, including modifications and/or derivative works of this 
  *    software, must execute solely and exclusively on microcontroller or
  *    microprocessor devices manufactured by or for STMicroelectronics.
  * 5. Redistribution and use of this software other than as permitted under 
  *    this license is void and will automatically terminate your rights under 
  *    this license. 
  *
  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" 
  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT 
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT 
  * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, 
  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_hal.h"
#include "cmsis_os.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* USER CODE BEGIN Includes */
#include "semphr.h"
#include "ahrs.h"
#include "esc.h"
#include "ppm_capure.h"

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
void MX_FREERTOS_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */


HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
{
    if(htim->Instance==TIM8)
    {
        Esc_Callback_TIM8(htim);
    }
    if(htim->Instance==TIM5)
    {
        Esc_Callback_TIM5(htim);
    }
    if(htim->Instance == TIM1)
    {
        Esc_Callback_TIM1(htim);
    }
    static  BaseType_t TaskWoken=pdTRUE;
    if(htim->Instance==TIM2)
    {
        if(htim->Channel==HAL_TIM_ACTIVE_CHANNEL_1)// 2000 hz
        {
         uint32_t delay_new = __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_1);
          __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, delay_new + 500);
//   xSemaphoreGiveFromISR(ahrs_sem,&TaskWoken);
        }
        if(htim->Channel==HAL_TIM_ACTIVE_CHANNEL_2)// 1000 hz
        {
         uint32_t delay_new = __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_2);
          __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, delay_new + 1000);

        }
        if(htim->Channel==HAL_TIM_ACTIVE_CHANNEL_3)// 500 hz
        {
         uint32_t delay_new = __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_3);
          __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, delay_new + 2000);
         // user task woken
          xSemaphoreGiveFromISR(ahrs_sem,&TaskWoken);

        }
        if(htim->Channel==HAL_TIM_ACTIVE_CHANNEL_4)// 50 hz
        {
         uint32_t delay_new = __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_4);
          __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, delay_new + 500000);
         HAL_GPIO_TogglePin(GPIOE,GPIO_PIN_4);
         ahrs_count_sec=ahrs_count;
         ahrs_count=0;
         gyro_count_sec=gyro_count;
         gyro_count=0;
        }
        portYIELD_FROM_ISR(TaskWoken );
    }
}

/* USER CODE END 0 */

int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_ADC3_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_TIM1_Init();
  MX_TIM5_Init();
  MX_TIM8_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_I2C1_Init();
  MX_TIM2_Init();
  MX_TIM6_Init();

  /* USER CODE BEGIN 2 */
  InitAttitudePid();
  Motor_Setup();
  printf("**** Hardware init finish ****");
  /* USER CODE END 2 */

  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();
  
  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

    /**Configure the main internal regulator output voltage 
    */
  __HAL_RCC_PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM7 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
//    static BaseType_t TaskWoken;
//    TaskWoken = pdTRUE;
       static  BaseType_t TaskWoken=pdTRUE;

    if(htim->Instance==TIM9) // clock for attitude esmation  500hz
    {
//       xSemaphoreGiveFromISR(ahrs_sem,&TaskWoken);
//       portYIELD_FROM_ISR( TaskWoken );// run context switch
    }

/* USER CODE END Callback 0 */
  if (htim->Instance == TIM7) {
    HAL_IncTick();
  }
/* USER CODE BEGIN Callback 1 */
   if(htim->Instance == TIM5)
   {

   }
   if(htim->Instance == TIM8)
   {

   }
   if(htim->Instance == TIM6)
   {
       // user task woken
//      xSemaphoreGiveFromISR(ahrs_sem,&TaskWoken);
   }

//    portYIELD_FROM_ISR(TaskWoken );
/* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler */
  /* User can add his own implementation to report the HAL error return state */
  while(1) 
  {
      HAL_GPIO_WritePin(GPIOE,GPIO_PIN_4,GPIO_PIN_SET);
      HAL_Delay(50);
      HAL_GPIO_WritePin(GPIOE,GPIO_PIN_4,GPIO_PIN_RESET);
      HAL_Delay(50);
  }
  /* USER CODE END Error_Handler */ 
}

#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t* file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */

}

#endif

/**
  * @}
  */ 

/**
  * @}
*/ 

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
